Product features, Current control, Velocity control – ElmoMC ExtrIQ Digital Servo Drives-Eagle User Manual
Page 14: Position control, Communication options
Eagle Installation Guide
Product Description
MAN-EAGIG (Ver. 1.902)
14
2.3. Product Features
2.3.1.
Current Control
•
Fully digital
•
Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
•
12-bit current loop resolution
•
Automatic gain scheduling, to compensate for variations in the DC bus power supply
2.3.2.
Velocity Control
•
Fully digital
•
Programmable PI and FFW (feed forward) control filters
•
Sample rate two times current loop sample time
•
“On-the-fly” gain scheduling
•
Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins
2.3.3.
Position Control
•
Programmable PIP control filter
•
Programmable notch and low-pass filters
•
Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
•
Pulse-and-direction inputs
•
Sample time: four times that of current loop
•
Fast event capturing inputs
•
PT and PVT motion modes
•
Position-based and time-based ECAM mode that supports a non-linear follower mode, in
which the motor tracks the master motion using an ECAM table stored in flash memory
•
Dual (position/velocity) loop
•
Fast output compare (OC)
2.3.4.
Communication Options
Eagle users can use two communication options:
•
RS-232 serial communication
•
CAN for fast communication in a multi-axis distributed environment